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<li class="navelem"><a class="el" href="namespacecollision.html">collision</a></li><li class="navelem"><a class="el" href="classcollision_1_1_polygon.html">Polygon</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="#pro-static-attribs">Static Protected Attributes</a> &#124;
<a href="classcollision_1_1_polygon-members.html">List of all members</a>  </div>
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<div class="title">collision::Polygon Class Reference</div>  </div>
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<p><a class="el" href="classcollision_1_1_polygon.html" title="Polygon contains Triangles and Vertices.">Polygon</a> contains Triangles and Vertices.  
 <a href="classcollision_1_1_polygon.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="polygon_8h_source.html">polygon.h</a>&gt;</code></p>
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Inheritance diagram for collision::Polygon:</div>
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  <img src="classcollision_1_1_polygon.png" usemap="#collision::Polygon_map" alt=""/>
  <map id="collision::Polygon_map" name="collision::Polygon_map">
<area href="classcollision_1_1_shape.html" title="Base prototype for the shape of an obstacle." alt="collision::Shape" shape="rect" coords="149,168,437,192"/>
<area href="classcollision_1_1_collision_object_ex.html" title="Provides functionality to use different collision solvers." alt="collision::CollisionObjectEx" shape="rect" coords="0,112,288,136"/>
<area href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object.html" alt="collision::solvers::solverFCL::IFCLCollisionObject" shape="rect" coords="298,112,586,136"/>
<area href="classcollision_1_1_collision_object.html" title="Base class for CollisionObjects and some of their groups." alt="collision::CollisionObject" shape="rect" coords="0,56,288,80"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:abf5c4edf28ad16dd3a0c34edf14a8a1f"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#abf5c4edf28ad16dd3a0c34edf14a8a1f">Polygon</a> (std::vector&lt; Eigen::Vector2d &gt; &amp;vertices, std::vector&lt; std::vector&lt; Eigen::Vector2d &gt;&gt; &amp;hole_vertices, std::vector&lt; <a class="el" href="namespacecollision.html#aed68b76265f6e6ba0f41f6f7a6762675">TriangleConstPtr</a> &gt; &amp;mesh_triangles, const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</td></tr>
<tr class="separator:abf5c4edf28ad16dd3a0c34edf14a8a1f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab17156dc5c0de63d10923da3d06df31c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#ab17156dc5c0de63d10923da3d06df31c">Polygon</a> (const <a class="el" href="classcollision_1_1_polygon.html">Polygon</a> &amp;copy)</td></tr>
<tr class="separator:ab17156dc5c0de63d10923da3d06df31c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c56f4c464b57bcea59b028b1ae4a830"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classcollision_1_1_polygon.html">Polygon</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a1c56f4c464b57bcea59b028b1ae4a830">clone</a> () const</td></tr>
<tr class="separator:a1c56f4c464b57bcea59b028b1ae4a830"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31ae7f712f5da946ad569b056815747c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a31ae7f712f5da946ad569b056815747c">type</a> (void) const</td></tr>
<tr class="memdesc:a31ae7f712f5da946ad569b056815747c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get shape type.  <a href="#a31ae7f712f5da946ad569b056815747c">More...</a><br /></td></tr>
<tr class="separator:a31ae7f712f5da946ad569b056815747c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34b4e3ad90a717e907d069cf0816581f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a34b4e3ad90a717e907d069cf0816581f">rayTrace</a> (const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;intersect) const override</td></tr>
<tr class="separator:a34b4e3ad90a717e907d069cf0816581f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:affdd58fa375f7bf0a6459a6c509688fe"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#affdd58fa375f7bf0a6459a6c509688fe">~Polygon</a> ()</td></tr>
<tr class="separator:affdd58fa375f7bf0a6459a6c509688fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a92e0556588da046d1139d15fca72b8f1"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a92e0556588da046d1139d15fca72b8f1">toString</a> (std::ostringstream &amp;stream) const</td></tr>
<tr class="separator:a92e0556588da046d1139d15fca72b8f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af3bedde3049919e0d0c078a76e70adc7"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#af3bedde3049919e0d0c078a76e70adc7">print</a> (std::ostringstream &amp;stream) const</td></tr>
<tr class="memdesc:af3bedde3049919e0d0c078a76e70adc7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print all parameters of the shape.  <a href="#af3bedde3049919e0d0c078a76e70adc7">More...</a><br /></td></tr>
<tr class="separator:af3bedde3049919e0d0c078a76e70adc7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a991b4dbc5536a52922e952f6da0df5aa"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a991b4dbc5536a52922e952f6da0df5aa">timeSlice</a> (int time_idx, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) const</td></tr>
<tr class="separator:a991b4dbc5536a52922e952f6da0df5aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c6fe0fa3c4ddac8549dd2149f106638"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="namespacecollision.html#aed68b76265f6e6ba0f41f6f7a6762675">TriangleConstPtr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a6c6fe0fa3c4ddac8549dd2149f106638">getTriangleMesh</a> () const</td></tr>
<tr class="separator:a6c6fe0fa3c4ddac8549dd2149f106638"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aebcacac382938dd7d39f469b28a8f9a6"><td class="memItemLeft" align="right" valign="top">std::vector&lt; Eigen::Vector2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#aebcacac382938dd7d39f469b28a8f9a6">getVertices</a> () const</td></tr>
<tr class="separator:aebcacac382938dd7d39f469b28a8f9a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aedcc2b82df7987c088fd7ac7dcd89f06"><td class="memItemLeft" align="right" valign="top">std::vector&lt; std::vector&lt; Eigen::Vector2d &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#aedcc2b82df7987c088fd7ac7dcd89f06">getHoleVertices</a> () const</td></tr>
<tr class="separator:aedcc2b82df7987c088fd7ac7dcd89f06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39abe4295b7ba9f7f973159c6b27bf7d"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a39abe4295b7ba9f7f973159c6b27bf7d">getCollisionObjectType</a> () const override</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_shape"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_shape')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_shape.html">collision::Shape</a></td></tr>
<tr class="memitem:a7f344a99a3e155fb725d750321350fe7 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a7f344a99a3e155fb725d750321350fe7">getCollisionObjectClass</a> () const override</td></tr>
<tr class="separator:a7f344a99a3e155fb725d750321350fe7 inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a707571ba3a684c0ef61c82b099ea8035 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">ISolverEntity_FCL</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a707571ba3a684c0ef61c82b099ea8035">getFclInterface</a> () const override</td></tr>
<tr class="separator:a707571ba3a684c0ef61c82b099ea8035 inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8e7fe1b16ef1ee803d511b593ae2936 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ac8e7fe1b16ef1ee803d511b593ae2936">Shape</a> (const <a class="el" href="classcollision_1_1_shape.html">Shape</a> &amp;copy)</td></tr>
<tr class="separator:ac8e7fe1b16ef1ee803d511b593ae2936 inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca9a2f6e0de0822e241e39dad9c419ce inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a> () const</td></tr>
<tr class="memdesc:aca9a2f6e0de0822e241e39dad9c419ce inherit pub_methods_classcollision_1_1_shape"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get geometric center of shape.  <a href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">More...</a><br /></td></tr>
<tr class="separator:aca9a2f6e0de0822e241e39dad9c419ce inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a690571543f14979499df6fbada671f1f inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a> () const</td></tr>
<tr class="separator:a690571543f14979499df6fbada671f1f inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabac3270d60bb5affed693af36fd39d8 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a> () const</td></tr>
<tr class="separator:aabac3270d60bb5affed693af36fd39d8 inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55dc047a30f0c61947d0bb46df3af8dd inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a55dc047a30f0c61947d0bb46df3af8dd">set_center</a> (const Eigen::Vector2d &amp;_center)</td></tr>
<tr class="memdesc:a55dc047a30f0c61947d0bb46df3af8dd inherit pub_methods_classcollision_1_1_shape"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set geometric center of shape.  <a href="classcollision_1_1_shape.html#a55dc047a30f0c61947d0bb46df3af8dd">More...</a><br /></td></tr>
<tr class="separator:a55dc047a30f0c61947d0bb46df3af8dd inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2b8994c5daeaab71cb04a73a6de8b0f inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ad2b8994c5daeaab71cb04a73a6de8b0f">radius</a> () const</td></tr>
<tr class="memdesc:ad2b8994c5daeaab71cb04a73a6de8b0f inherit pub_methods_classcollision_1_1_shape"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get radius.  <a href="classcollision_1_1_shape.html#ad2b8994c5daeaab71cb04a73a6de8b0f">More...</a><br /></td></tr>
<tr class="separator:ad2b8994c5daeaab71cb04a73a6de8b0f inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1efc0d3437abbac61d5c444b9d1becf5 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a1efc0d3437abbac61d5c444b9d1becf5">~Shape</a> ()</td></tr>
<tr class="separator:a1efc0d3437abbac61d5c444b9d1becf5 inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classcollision_1_1_collision_object_ex"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object_ex')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></td></tr>
<tr class="memitem:a358c5ace931619be56d441bdd8da4762 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a358c5ace931619be56d441bdd8da4762">CollisionObjectEx</a> ()</td></tr>
<tr class="separator:a358c5ace931619be56d441bdd8da4762 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c5a1b6ed938b80cd858d9107684ca9f inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a8c5a1b6ed938b80cd858d9107684ca9f">~CollisionObjectEx</a> ()</td></tr>
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<tr class="memitem:a7fa9738682fe6d4cdef843e99fa5e693 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7fa9738682fe6d4cdef843e99fa5e693">collide</a> (const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;c, const <a class="el" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;req=<a class="el" href="classcollision_1_1_collision_request.html">CollisionRequest</a>()) const</td></tr>
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<tr class="memitem:a50d6ae971b8c05c6ad8e876ed3141733 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">BVCheck</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2) const</td></tr>
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<tr class="memitem:a7cbe600ed254b8e9ae54fd1e658d6991 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual std::shared_ptr&lt; const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">getAABB</a> () const</td></tr>
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<tr class="memitem:a1e96193008a86cfe46c873d358aadc67 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">getSolverEntity</a> (<a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *&amp;ptr) const</td></tr>
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<tr class="memitem:a13442077fa8b22d7af2ae035dec5debe inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a13442077fa8b22d7af2ae035dec5debe">getContainerInterface</a> (void) const</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_collision_object"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></td></tr>
<tr class="memitem:a96352a5369914c677a8f826b68028205 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a96352a5369914c677a8f826b68028205">~CollisionObject</a> ()</td></tr>
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<tr class="memitem:a525c0826bd7ef13b2fe62868d3e49d30 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a525c0826bd7ef13b2fe62868d3e49d30">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map) const</td></tr>
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<tr class="memitem:a8b14d81e4da802dd2a5f805162cf6ad4 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a8b14d81e4da802dd2a5f805162cf6ad4">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> parent) const</td></tr>
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Protected Member Functions</h2></td></tr>
<tr class="memitem:aabed6ce29dec3f5700f538d8b8c1a383"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#aabed6ce29dec3f5700f538d8b8c1a383">createFCLCollisionGeometry</a> (void) const override</td></tr>
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<tr class="memitem:a8fa7d4bca57e4c7be035eb5bf38b5fb3"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfcl_1_1_collision_object.html">fcl::CollisionObject</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a8fa7d4bca57e4c7be035eb5bf38b5fb3">createFCLCollisionObject</a> (const std::shared_ptr&lt; <a class="el" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt;&gt; &amp;) const override</td></tr>
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<tr class="inherit_header pro_methods_classcollision_1_1_shape"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcollision_1_1_shape')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcollision_1_1_shape.html">collision::Shape</a></td></tr>
<tr class="memitem:a8aa65a2f272b0bfd2af0435307c082e1 inherit pro_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a8aa65a2f272b0bfd2af0435307c082e1">Shape</a> (const Eigen::Vector2d &amp;_center)</td></tr>
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<tr class="inherit_header pro_methods_classcollision_1_1_collision_object_ex"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcollision_1_1_collision_object_ex')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></td></tr>
<tr class="memitem:ab080033cf96284d10d0a7950bf2fd595 inherit pro_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a> (void)</td></tr>
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Protected Attributes</h2></td></tr>
<tr class="memitem:a4067cb76e4acf3024bcb1555f92fd3c2"><td class="memItemLeft" align="right" valign="top">std::vector&lt; Eigen::Vector2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a4067cb76e4acf3024bcb1555f92fd3c2">vertices_</a></td></tr>
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<tr class="memitem:afffca4faf41c7ed88a7c45418e355b84"><td class="memItemLeft" align="right" valign="top">std::vector&lt; std::vector&lt; Eigen::Vector2d &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#afffca4faf41c7ed88a7c45418e355b84">hole_vertices_</a></td></tr>
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<tr class="memitem:a02bab9cdaf148d34f71db0e18b5cc023"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="namespacecollision.html#aed68b76265f6e6ba0f41f6f7a6762675">TriangleConstPtr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a02bab9cdaf148d34f71db0e18b5cc023">mesh_triangles_</a></td></tr>
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<tr class="inherit_header pro_attribs_classcollision_1_1_shape"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcollision_1_1_shape')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcollision_1_1_shape.html">collision::Shape</a></td></tr>
<tr class="memitem:a3a397b619573e160d18954605a11f7bd inherit pro_attribs_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a></td></tr>
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<tr class="memitem:ab453849fed42ee9769df87210ca5262d inherit pro_attribs_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">radius_</a></td></tr>
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Static Protected Attributes</h2></td></tr>
<tr class="memitem:a8df9d6923aa68f1ecaec4d3fe71bf3f1"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_polygon.html#a8df9d6923aa68f1ecaec4d3fe71bf3f1">type_</a> = <a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7">TYPE_POLYGON</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="classcollision_1_1_polygon.html" title="Polygon contains Triangles and Vertices.">Polygon</a> contains Triangles and Vertices. </p>

<p class="definition">Definition at line <a class="el" href="polygon_8h_source.html#l00019">19</a> of file <a class="el" href="polygon_8h_source.html">polygon.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="abf5c4edf28ad16dd3a0c34edf14a8a1f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abf5c4edf28ad16dd3a0c34edf14a8a1f">&#9670;&nbsp;</a></span>Polygon() <span class="overload">[1/2]</span></h2>

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          <td class="memname">collision::Polygon::Polygon </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; Eigen::Vector2d &gt; &amp;&#160;</td>
          <td class="paramname"><em>vertices</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">std::vector&lt; std::vector&lt; Eigen::Vector2d &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>hole_vertices</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="namespacecollision.html#aed68b76265f6e6ba0f41f6f7a6762675">TriangleConstPtr</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>mesh_triangles</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>_center</em> = <code>Eigen::Vector2d(0,&#160;0)</code>&#160;</td>
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          <td>)</td>
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<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00013">13</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab17156dc5c0de63d10923da3d06df31c">&#9670;&nbsp;</a></span>Polygon() <span class="overload">[2/2]</span></h2>

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          <td class="memname">collision::Polygon::Polygon </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_polygon.html">Polygon</a> &amp;&#160;</td>
          <td class="paramname"><em>copy</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00057">57</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#affdd58fa375f7bf0a6459a6c509688fe">&#9670;&nbsp;</a></span>~Polygon()</h2>

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          <td class="memname">virtual collision::Polygon::~Polygon </td>
          <td>(</td>
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<p class="definition">Definition at line <a class="el" href="polygon_8h_source.html#l00041">41</a> of file <a class="el" href="polygon_8h_source.html">polygon.h</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a1c56f4c464b57bcea59b028b1ae4a830">&#9670;&nbsp;</a></span>clone()</h2>

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          <td class="memname"><a class="el" href="classcollision_1_1_polygon.html">Polygon</a> * collision::Polygon::clone </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Implements <a class="el" href="classcollision_1_1_shape.html#a2eb0283fa4f04436df2f1ec2937b064f">collision::Shape</a>.</p>

<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00055">55</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aabed6ce29dec3f5700f538d8b8c1a383">&#9670;&nbsp;</a></span>createFCLCollisionGeometry()</h2>

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          <td class="memname"><a class="el" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; * collision::Polygon::createFCLCollisionGeometry </td>
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<p>Implements <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object.html#a4a674ecf559b2e39e920a71c4200ef09">collision::solvers::solverFCL::IFCLCollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00080">80</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8fa7d4bca57e4c7be035eb5bf38b5fb3">&#9670;&nbsp;</a></span>createFCLCollisionObject()</h2>

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          <td class="memname"><a class="el" href="classfcl_1_1_collision_object.html">fcl::CollisionObject</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; * collision::Polygon::createFCLCollisionObject </td>
          <td>(</td>
          <td class="paramtype">const std::shared_ptr&lt; <a class="el" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>col_geom</em></td><td>)</td>
          <td> const</td>
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<p>Implements <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object.html#afd71a4be381f0e633046a4da668aea96">collision::solvers::solverFCL::IFCLCollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00097">97</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a39abe4295b7ba9f7f973159c6b27bf7d">&#9670;&nbsp;</a></span>getCollisionObjectType()</h2>

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          <td class="memname">virtual <a class="el" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> collision::Polygon::getCollisionObjectType </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="polygon_8h_source.html#l00051">51</a> of file <a class="el" href="polygon_8h_source.html">polygon.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aedcc2b82df7987c088fd7ac7dcd89f06">&#9670;&nbsp;</a></span>getHoleVertices()</h2>

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          <td class="memname">std::vector&lt; std::vector&lt; Eigen::Vector2d &gt; &gt; collision::Polygon::getHoleVertices </td>
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<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00116">116</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6c6fe0fa3c4ddac8549dd2149f106638">&#9670;&nbsp;</a></span>getTriangleMesh()</h2>

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          <td class="memname">std::vector&lt; <a class="el" href="namespacecollision.html#aed68b76265f6e6ba0f41f6f7a6762675">TriangleConstPtr</a> &gt; collision::Polygon::getTriangleMesh </td>
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<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00110">110</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aebcacac382938dd7d39f469b28a8f9a6">&#9670;&nbsp;</a></span>getVertices()</h2>

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          <td class="memname">std::vector&lt; Eigen::Vector2d &gt; collision::Polygon::getVertices </td>
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<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00114">114</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#af3bedde3049919e0d0c078a76e70adc7">&#9670;&nbsp;</a></span>print()</h2>

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          <td class="memname">void collision::Polygon::print </td>
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<p>Print all parameters of the shape. </p>

<p>Implements <a class="el" href="classcollision_1_1_shape.html#aa415ef83e29916ba893fd3452eb06290">collision::Shape</a>.</p>

<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00068">68</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a34b4e3ad90a717e907d069cf0816581f">&#9670;&nbsp;</a></span>rayTrace()</h2>

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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a43b2608cfc67b33f4aa4216e11a9990d">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00038">38</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a991b4dbc5536a52922e952f6da0df5aa">&#9670;&nbsp;</a></span>timeSlice()</h2>

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          <td class="memname"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> collision::Polygon::timeSlice </td>
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          <td class="paramname"><em>time_idx</em>, </td>
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          <td class="paramtype"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td>
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<p>Reimplemented from <a class="el" href="classcollision_1_1_shape.html#a2bec0ccd43f30004758b2112b46659d4">collision::Shape</a>.</p>

<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00105">105</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a92e0556588da046d1139d15fca72b8f1">&#9670;&nbsp;</a></span>toString()</h2>

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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a9bc84c4dd5f378403d31393326a0644e">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00070">70</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a31ae7f712f5da946ad569b056815747c">&#9670;&nbsp;</a></span>type()</h2>

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          <td class="memname"><a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> collision::Polygon::type </td>
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          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Get shape type. </p>

<p>Implements <a class="el" href="classcollision_1_1_shape.html#ac80f4a8216ca9f78e0a55dcc4dd4bb6e">collision::Shape</a>.</p>

<p class="definition">Definition at line <a class="el" href="polygon_8cc_source.html#l00066">66</a> of file <a class="el" href="polygon_8cc_source.html">polygon.cc</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
<a id="afffca4faf41c7ed88a7c45418e355b84"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afffca4faf41c7ed88a7c45418e355b84">&#9670;&nbsp;</a></span>hole_vertices_</h2>

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<p class="definition">Definition at line <a class="el" href="polygon_8h_source.html#l00068">68</a> of file <a class="el" href="polygon_8h_source.html">polygon.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a02bab9cdaf148d34f71db0e18b5cc023">&#9670;&nbsp;</a></span>mesh_triangles_</h2>

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          <td class="memname">std::vector&lt;<a class="el" href="namespacecollision.html#aed68b76265f6e6ba0f41f6f7a6762675">TriangleConstPtr</a>&gt; collision::Polygon::mesh_triangles_</td>
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<p class="definition">Definition at line <a class="el" href="polygon_8h_source.html#l00069">69</a> of file <a class="el" href="polygon_8h_source.html">polygon.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8df9d6923aa68f1ecaec4d3fe71bf3f1">&#9670;&nbsp;</a></span>type_</h2>

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          <td class="memname">constexpr <a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> collision::Polygon::type_ = <a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7">TYPE_POLYGON</a></td>
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<p class="definition">Definition at line <a class="el" href="polygon_8h_source.html#l00060">60</a> of file <a class="el" href="polygon_8h_source.html">polygon.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4067cb76e4acf3024bcb1555f92fd3c2">&#9670;&nbsp;</a></span>vertices_</h2>

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<p class="definition">Definition at line <a class="el" href="polygon_8h_source.html#l00067">67</a> of file <a class="el" href="polygon_8h_source.html">polygon.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>cpp/collision/include/collision/narrowphase/<a class="el" href="polygon_8h_source.html">polygon.h</a></li>
<li>cpp/collision/src/narrowphase/<a class="el" href="polygon_8cc_source.html">polygon.cc</a></li>
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